CN113616338A - Computer-readable storage medium, alignment method and system, and surgical robot system - Google Patents
Computer-readable storage medium, alignment method and system, and surgical robot system Download PDFInfo
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Abstract
The invention provides a computer-readable storage medium, an alignment method and system, and a surgical robot system, wherein the alignment method is used for aligning a mechanical arm and a guide device inserted into a target object, the mechanical arm comprises a plurality of joints, and the alignment method comprises the following steps: acquiring the pose of the guide device; planning the aligned target pose of the mechanical arm according to the pose of the guide device; and acquiring the current positions of the joints, planning the target motion direction of at least one joint according to the current positions of the joints and the target pose of the mechanical arm, and guiding the corresponding joint to move according to the target motion direction. The alignment method is used for aligning the mechanical arm of the surgical robot with the guide device, so that the alignment precision and the alignment efficiency can be improved.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a computer-readable storage medium, an alignment method and system and a surgical robot system.
Background
The design concept of surgical robots is to perform complex surgical procedures precisely in a minimally invasive manner. The surgical robot is developed under the condition that the traditional surgical operation faces various limitations, breaks through the limitation of human eyes, and can more clearly present organs in the human body to an operator by utilizing a three-dimensional imaging technology. And to the narrow and small region that some people's hand can't stretch into, the operation robot still steerable surgical instruments accomplish to move, swing, centre gripping and 360 rotations to can avoid the shake, improve the operation accuracy, further reach the advantage that the wound is little, the bleeding is few, the postoperative resumes soon, greatly shorten the operation object postoperative time of being in hospital. Therefore, the surgical robot is very popular among doctors and patients, and is widely applied to respective clinical operations.
In the process of performing surgery by using a surgical robot, a guide device such as a trocar (troca) is used for providing access for a surgical instrument to and from a cavity, so that before surgery, a mechanical arm of the surgical robot needs to be aligned with the guide device (such as the trocar) inserted into a patient body, but the prior art has no effective alignment method, so that the alignment of the mechanical arm and the guide device takes much time, and the efficiency of the surgery is affected.
Disclosure of Invention
The invention aims to provide a computer readable storage medium, an alignment method and system and a surgical robot system, aiming at quickly realizing the alignment operation of a mechanical arm and a guide device.
To achieve the above object, the present invention provides a computer-readable storage medium having stored thereon a program for executing an alignment method for aligning a robot arm with a guide device for providing a surgical channel for a surgical instrument, the robot arm including a number of joints, the alignment method comprising:
step S1: acquiring the pose of the guide device;
step S2: planning the aligned target pose of the mechanical arm according to the pose of the guide device; and the number of the first and second groups,
step S3: and acquiring the current position of the joint, planning the target motion direction of at least one joint according to the current position of the joint and the target pose of the mechanical arm, and guiding the corresponding joint to move according to the target motion direction.
Optionally, when the robot arm is in the target pose, the tip end of the robot arm faces an instrument hole of the guide device and is spaced apart from the instrument hole by a predetermined distance.
Optionally, the step S2 includes: and establishing a mapping relation between the coordinate system of the mechanical arm and the coordinate system of the guide device, and planning the target pose of the mechanical arm according to the mapping relation and the pose of the guide device.
Optionally, the step S3 includes:
step S31: acquiring a target position of an Nth joint of the mechanical arm according to the target pose of the mechanical arm;
step S32: acquiring the current position of the Nth joint;
step S33: calculating a difference value between the target position and the current position of the Nth joint;
step S34: judging whether the Nth joint is aligned according to the difference value of the target position and the current position of the Nth joint, and if not, executing the step S35;
step S35: planning the target motion direction of the Nth joint according to the difference value between the target position and the current position of the Nth joint, and guiding the Nth joint to move along the target motion direction to execute alignment operation, wherein N is a positive integer.
Optionally, in the process of directing the alignment of the nth joint, the steps S32 to S35 are repeatedly executed in a loop until the nth joint completes the alignment.
Optionally, the step S3 further includes: when it is determined that the nth joint has moved to the target position corresponding to the joint, first prompt information is generated.
Optionally, when all the joints of the robot arm are moved to the corresponding target positions, the alignment method further includes the following step S4: and generating second prompt information.
Optionally, the alignment method is used for aligning a plurality of the robot arms with a plurality of the guide devices inserted into the target object, respectively; the alignment method further includes:
step S0: selecting the mechanical arm to be aligned currently; and the number of the first and second groups,
step S5: judging whether the alignment operation of all the mechanical arms is finished, if not, at least repeating and circularly executing the step S0 and the step S4; if yes, go to step S6;
step S6: generating a third prompt message;
wherein the step S0 is performed before the step S3, and the step S5 is performed after the step S4.
Optionally, the alignment method further comprises: and prompting the target motion direction information on a prompting unit.
Optionally, the prompting unit prompts the target movement direction information through at least one of sound indication, light indication or graphic indication.
Optionally, the target motion direction of the joint comprises a rotational direction or a translational direction of the joint.
To achieve the above object, the present invention also provides an alignment method executed by a program stored on a computer-readable storage medium according to any one of the preceding claims.
In order to achieve the above object, the present invention further provides an alignment system, which includes a control unit and a prompting unit, wherein the control unit is configured to execute the alignment method, and the prompting unit is connected in communication with the control unit and at least used for receiving and prompting the target movement direction information.
Optionally, the prompting unit includes at least one of a sound prompting mechanism, a light prompting mechanism, and a display screen.
Optionally, the alignment system further includes a positioning device, the positioning device is in communication connection with the control unit and is configured to acquire three-dimensional coordinate information of the robot arm and the guiding device, and the control unit establishes a mapping relationship between a coordinate system of the robot arm and a coordinate system of the guiding device according to the three-dimensional coordinate information of the robot arm and the guiding device.
Optionally, the control unit further acquires position information of the joint according to three-dimensional coordinate information of the mechanical arm.
Optionally, the alignment system further comprises a plurality of position acquisition devices, and the position acquisition devices are used for acquiring the position information of the joints; the control unit is in communication connection with the position acquisition device and receives position information of the joint.
To achieve the above object, the present invention further provides a surgical robot system including a surgical operation device including a robot arm having a distal end for connecting a surgical instrument, and the alignment system of any one of the preceding items for aligning the robot arm with a guide device for providing a surgical passage for the surgical instrument.
To achieve the above object, the present invention also provides an electronic device comprising a processor and a computer-readable storage medium as described in any of the preceding items, wherein the processor is configured to execute the program stored on the computer-readable storage medium.
Compared with the prior art, the computer readable storage medium, the alignment method and system and the surgical robot system have the following advantages:
the aforementioned computer readable storage medium having stored thereon a program that, when executed, performs an alignment method for aligning a robotic arm with a guide device for providing a surgical channel for a surgical instrument, the robotic arm comprising a number of joints, the alignment method comprising the steps of: acquiring the pose of the guide device; planning the aligned target pose of the mechanical arm according to the pose of the guide device; and acquiring the current positions of the joints, planning the target motion direction of at least one joint according to the current positions of the joints and the target pose of the mechanical arm, and guiding the corresponding joint to move according to the target motion direction so as to execute alignment operation. That is, by planning the target pose of the robot arm in advance and generating the target movement direction of each joint of the robot arm accordingly, each joint is moved according to the target movement direction, so that the robot arm is accurately aligned with the guide device, and the alignment efficiency and convenience are also improved.
The surgical robot system comprises a mechanical arm and a control unit, wherein the control unit is in communication connection with the mechanical arm and is configured to execute the alignment method, so that the surgical robot system has better accuracy and higher alignment efficiency when the alignment operation of the mechanical arm and the guide device is carried out.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
fig. 1 is a schematic view of an application scenario of a surgical robot system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a surgical manipulator of a surgical robotic system according to an embodiment of the present invention, showing three robotic arms;
FIG. 3 is a schematic view of the robotic arms of a surgical robotic system aligned with a guide device, showing four robotic arms;
FIG. 4 is a flowchart illustrating the alignment of the robotic arms and guides of the surgical robotic system using the alignment method provided by embodiments of the present invention;
fig. 5 is a detailed flowchart of the surgical robot system according to the embodiment of the present invention when performing the alignment operation of the robot arm and the guiding device, in which the target movement direction information, the first prompt information, the second prompt information, and the third prompt information are prompted by the audio prompt mechanism;
FIG. 6 is a schematic diagram of a positioning device of a surgical robotic system according to an embodiment of the present invention;
FIG. 7 is a schematic illustration of a positioning device of a surgical robotic system according to an embodiment of the present invention;
fig. 8 is a schematic diagram illustrating a mapping relationship between a coordinate system of a robot arm and a coordinate system of a guiding device by using a positioning device in a surgical robot system according to an embodiment of the present invention;
fig. 9 is a schematic view of the surgical robot system according to the embodiment of the present invention, illustrating a robot arm and not illustrating a positioning device, for establishing a mapping relationship between the coordinate system of the robot arm and the coordinate system of the guiding device;
fig. 10 is a schematic view illustrating the movement direction and the movement angle or the movement distance of each joint of the robot arm of the surgical robot system according to the embodiment of the present invention;
FIG. 11 is a schematic view of the movement direction of each joint of the adjustment arm of the robotic arm of the surgical robotic system during the alignment operation according to an embodiment of the present invention;
FIG. 12 is a schematic view of the direction of movement of the joints of the tool arm of the robotic arm of the surgical robotic system during the alignment operation, with the arrows pointing in the positive direction of movement of the joints, according to an embodiment of the present invention;
FIG. 13 is a schematic view of the movement direction of the first joint of the robotic arm of the surgical robotic system according to the embodiment of the present invention, wherein the positive and negative directions of the first joint are indicated by "+" and "-";
fig. 14 is a detailed flowchart of the control unit of the surgical robot system according to the embodiment of the present invention in determining whether each joint needs to perform an alignment operation and planning a target movement direction;
FIG. 15 is a partial result diagram of a surgical robotic system according to an embodiment of the present invention, wherein the prompting unit is a first light prompting mechanism;
FIG. 16 is an enlarged schematic view at A of the surgical robotic system illustrated in FIG. 15;
fig. 17 is a detailed flowchart of the surgical robot system according to the embodiment of the present invention when performing the alignment operation of the robot arm and the guiding device, in which the movement direction of the target, the first prompt information, the second prompt information, and the third prompt information are prompted by the change of the light;
fig. 18 is a partial schematic structural view of a surgical robot system according to a fourth embodiment of the present invention, in which a second light prompting mechanism is used as a prompting unit;
FIG. 19 is an enlarged schematic view at B of the surgical robotic system shown in FIG. 18;
fig. 20 is a schematic partial structural view of a surgical robot system according to a fifth embodiment of the present invention, in which a display screen is shown as a prompting unit;
fig. 21 is an enlarged schematic view of the surgical robotic system shown in fig. 20 at C.
[ reference numerals are described below ]:
10-doctor end control device, 20-surgical operation device, 21-operation platform, 22-mechanical arm, 221-adjusting arm, 221 a-first joint, 221 b-second joint, 221 c-third joint, 221 d-fourth joint, 222-tool arm, 222 a-fifth joint, 222 b-sixth joint, 30-display device, 41-first light prompting mechanism, 41 a-first indicator light, 41 b-second indicator light, 41 c-third indicator light, 42-display screen, 42 a-first arrow, 42 b-second arrow and 42 c-confirmation symbol;
1-target object, 2-guiding device, 3-surgical instrument, 4-binocular vision device.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Furthermore, each of the embodiments described below has one or more technical features, and thus, the use of the technical features of any one embodiment does not necessarily mean that all of the technical features of any one embodiment are implemented at the same time or that only some or all of the technical features of different embodiments are implemented separately. In other words, those skilled in the art can selectively implement some or all of the features of any embodiment or combinations of some or all of the features of multiple embodiments according to the disclosure of the present invention and according to design specifications or implementation requirements, thereby increasing the flexibility in implementing the invention.
As used in this specification, the singular forms "a", "an" and "the" include plural referents, and the plural forms "a plurality" includes more than two referents unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise, and the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to the appended drawings. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention. The same or similar reference numbers in the drawings identify the same or similar elements.
Fig. 1 shows a schematic view of an application scenario of a surgical robotic system. As shown in fig. 1, the surgical robot system includes a control end and an execution end, and the control end includes a doctor console and a doctor end control device 10 disposed on the doctor console. The execution end comprises a patient end control device (not shown), a surgical operation device 20, an image display device 30 and the like. Fig. 2 shows a schematic structural view of the surgical operation device 20, and as shown in fig. 2, the surgical operation device 20 includes an operation platform 21 and a plurality of robot arms 22. At least one of the robotic arms 22 is configured to mount an image capture device (not shown) in communication with the display device 30. The image acquisition device is used for passing through an instrument hole of a guide device 2 inserted into a target object 1 in advance and entering the interior of the target pair 1 so as to acquire image information of the interior of the target object 1 and send the image information to the display device 30 for displaying. And at least one of the robotic arms 22 is used for mounting a surgical instrument 3, and the surgical instrument 3 is used for passing through an instrument hole of a guide device 2 pre-inserted on the target object 1 and entering the interior of the target object 1 to perform a surgical operation (namely, the instrument hole of the guide device 2 provides a surgical channel for the surgical instrument 3). Here, the target object 1 is, for example, a patient, and the target object 1 shown in fig. 3 is a simulated human body model. The guide means 2 is for example a stamp card. It will be appreciated by those skilled in the art that one of the guiding devices 2 is used to provide a surgical access to one of the image capturing devices or one of the surgical instruments 3 into the target object 1. And each of the robotic arms 22 includes a plurality of joints (not labeled in fig. 1 and 2).
As shown in fig. 3, before performing minimally invasive surgery using the surgical robotic system, the robotic arms 22 need to be aligned with the respective guide devices 2. A core idea of the invention is therefore to provide a computer-readable storage medium on which a program is stored which, when executed, performs an alignment method for aligning the robot arm 22 with the respective guide 2. As shown in fig. 4, the alignment method may include the steps of:
step S1: the pose of the guide device 2 is acquired.
Step S2: the target pose of the robot arm 22 after alignment is planned according to the pose of the guide device 2. And the number of the first and second groups,
step S3: and acquiring the current positions of the joints, planning the target motion direction of at least one joint according to the current positions of the joints and the target pose of the mechanical arm 22, and guiding the corresponding joint to move according to the target motion direction.
Wherein the target posture is a posture of the robot arm 22 when the tip of the robot arm 22 faces the instrument hole of the guide device 2 and is spaced from the instrument hole by a predetermined distance.
The computer-readable storage medium is provided on a control unit (not shown), i.e. the alignment method is performed by the control unit. The embodiment of the present invention does not limit the setting manner of the control unit, as long as it can implement the corresponding function. Optionally, the control unit is integrally disposed at the doctor-end control device 10 of the surgical robot system, or the control unit is integrally disposed at the patient-end control device, or a part of the control unit is partially disposed at the doctor-end control device 10 and another part is disposed at the patient-end control device, or the control unit is independent from the doctor-end control device 10 and the patient-end control device.
Optionally, the joints of the mechanical arm 22 are moved by manual control, in this case, the step S3 further includes: and prompting the target motion direction information on a prompting unit. So that the operator can intuitively acquire the target motion direction information and control the motion of the joint according to the target motion direction information. Alternatively, the joints of the robot arm 22 are controlled to move by the control unit until the robot arm 22 reaches the target pose. Of course, the target movement direction information may be presented on the presentation means while the control means controls the joint movement. The manual control of the movement of the joint means manual control of the start of movement, stop of movement, direction of movement, and distance of movement of the joint. In the process of manually controlling the movement of the joint, the joint can be driven to move by a driving mechanism or can be manually driven to move. Controlling the movement of the joint by the control unit means that the control unit controls the joint to start moving, stop moving, moving direction, moving distance, and the like.
Referring back to fig. 3, the surgical operation device 20 includes a plurality of, for example, four, robot arms 22, and each robot arm 22 is connected to the surgical instrument 3 or the image acquisition device. Accordingly, four of the guiding devices 2 are arranged on the target object 1. Then, as shown in fig. 5, when the alignment method is performed, the control unit should further perform step S0: the robotic arm 22 currently to be aligned is selected.
In some embodiments, the step S0 is performed before the step S1, and the control unit acquires the poses of the guide devices 2 corresponding to the robot arm 22 to be currently aligned, or acquires the poses of all the guide devices 2 when the step S1 is performed. In other embodiments, the step S0 is performed after the step S1 and before the step S2, and the control unit acquires all the poses of the guide device 2 while performing the step S1, and in the step S2, the control unit plans the target poses of the robot arm 22 to be currently aligned, or plans all the target poses of the robot arm 22. In still other embodiments, the step S0 is performed after the step S2 and before the step S3, and in the step S2, the control unit plans the target poses of all the robot arms 22.
Next, the respective steps of the alignment method will be described in detail herein, taking as an example a case where the motion of the joint is manually controlled and the step S0 is performed after the step S2 and before the step S3.
In the step S1, the control unit may acquire the pose of the guide device 2 from the image information of the guide device 2. The image information of the guiding device 2 is collected by a positioning device, such as a binocular vision device 4, as shown in fig. 6, and the binocular vision device 4 is in communication connection with the control unit.
The binocular vision device 4 generally obtains the object to be measured from different angles by two cameras simultaneouslyAnd recovering the three-dimensional geometric information of the measured object based on the parallax principle to obtain the position of the measured object. Fig. 7 schematically shows the principle of three-dimensional measurement of the binocular vision apparatus. Referring to FIG. 7, a point P (x, y, z) is a characteristic point on the object to be measured, OlIs the optical center of the left camera, OrIs the optical center of the right camera. If the left camera is used to view point P, it is seen that its image point at the left camera is located at PlBut we cannot get from PlKnowing the three-dimensional position of P, in fact, at OlPlThe image point of any point on the left camera is PlThus, from PlThe position of the point can only be known that the spatial point P is located on the straight line OlPlThe above. Similarly, from the perspective of the right camera, it can only be known that the spatial point P is located on the straight line OrPrThe above. Therefore, when the two cameras shoot the same characteristic point P (x, y, z) and the straight line O of the measured object at the same timelPlAnd the straight line OrPrThe intersection point of (a), i.e., the position where the space point P is located, i.e., the three-dimensional coordinates of the space point P, is uniquely determined.
Further, the optical centers of the two cameras are at a distance b from the base line, and the focal lengths of the two cameras are both f. The two cameras shoot the same characteristic point P (x, y, z) of the measured object at the same time, and the following relational expression is obtained according to the similar triangle principle:
further obtaining:
thereby, the coordinate system F of the feature point P on the object to be measured in the binocular vision device 4 can be obtained1The three-dimensional coordinate information of the binocular vision device 4, and further according to the coordinate system F of the binocular vision device1With the world coordinate system F0The mapping relation of the characteristic points P is obtained in a world coordinate system F0Lower three-dimensionAnd (4) coordinate information. Based on the above, obtaining the coordinate system F of other characteristic points on the measured object in the binocular vision device 41The control unit can make the world coordinate system F according to all the characteristic points on the measured object0The three-dimensional coordinate information carries out model reconstruction on the measured object and obtains a world coordinate system F of the guiding device 20And (5) a pose. The person skilled in the art knows how to establish the coordinate system F of the binocular vision device 41With the world coordinate system F0The mapping relationship of (2) is not described herein. In addition, a target (not shown in the figure) that can be recognized by the binocular vision device 4 may be provided on the guide device 2.
The step S2 is specifically performed according to the coordinate system F of the robot arm 223Coordinate system F of the corresponding guide device 22The target pose of the robot arm 22 is planned by the mapping relation of (a) and the pose of the guide device 2.
In the embodiment of the present invention, the binocular vision device 4 is used to establish the coordinate system F of the mechanical arm 223Coordinate system F of the corresponding guide device 22Is shown in fig. 8, which does not show the guiding device, but shows the coordinate system F of the guiding device2). Specifically, when the binocular vision device 4 collects the image information of the guidance device 2, the image information can be displayed in the world coordinate system F0Establishing the coordinate system F of the guiding device 22With the coordinate system F of the binocular vision device 41The mapping relationship of (2). Similarly, the image information of the robot arm 22 is acquired by the binocular vision device 4 in the world coordinate system F0Establishing the coordinate system F of the robot arm 223With the coordinate system F of the binocular vision device 41To obtain the coordinate system F of the robot arm 223Coordinate system F with said guide means 22As shown in fig. 9.
Referring back to fig. 5, the step S3 specifically includes:
step S31: acquiring a target position of an nth joint of the mechanical arm 22 to be currently adjusted according to the target pose of the mechanical arm 22 to be currently aligned.
Step S32: the current position of the nth joint of the robot arm 22 to be currently aligned is acquired.
Step S33: calculating a difference value between the target position and the current position of the Nth joint;
step S34: judging whether the Nth joint is aligned according to the difference value between the target position and the current position of the Nth joint, and if not, executing the step S35; if yes, go to step S36.
Step S35: planning a target motion direction of the Nth joint according to the difference value between the target position and the current position of the Nth joint, and prompting the target motion direction information through a prompting unit, wherein N is a positive integer, so that the Nth joint moves according to the target motion direction.
Step S36: and generating first prompt information.
The robotic arm 22 may include a plurality of joints, and as shown in fig. 10-13 for example, the robotic arm 22 includes six joints connected in series. In some embodiments, the robotic arm 22 includes a mutual adjustment arm 221 and a tool arm 222, the adjustment arm 221 being coupled to the operation platform 21. The adjustment arm 221 includes four joints, namely a first joint 221a, a second joint 221b, a third joint 221c, and a fourth joint 221d, which are connected in sequence, and the tool arm 222 includes two joints, namely a fifth joint 222a and a sixth joint 222 b. The first joint 221a, the third joint 221b, the fourth joint 221d, the fifth joint 222a, and the sixth joint 222b are rotational joints, and the second joint 221b is a translational joint. In this manner, the alignment operation of the robot arm 22 actually includes the alignment operation of six joints, i.e., the rotation of the first joint 221a by Δ θ in the positive or negative direction from the current position1To reach the corresponding target position; translating the second joint 221b from the current position by L in a positive or negative direction to reach the corresponding target position; rotating the third joint 221c by delta theta in a positive or negative direction from the current position2To reach the corresponding target position(ii) a Rotating the fourth joint 221d by delta theta in a positive or negative direction from the current position3To reach the corresponding target location; rotating the fifth joint 222a by delta theta in a positive or negative direction from the current position4To reach the corresponding target location; rotating the sixth joint 222b by Δ θ in a positive or negative direction from the current position5To reach the corresponding target location. Here, the positive direction is, for example, a counterclockwise direction and the negative direction is, for example, a clockwise direction for the rotary joint, and vice versa. For a translatory joint, the positive direction is for example a direction away from the guide 2 and the negative direction is for example a direction towards the guide 2. It should also be noted that each joint should move within an allowable range during the corresponding movement to ensure safety.
In step S31, when the target pose of the robot arm 22 is determined, each joint of the robot arm 22 has a unique target position according to the configuration of the robot arm 22. The target position of the nth joint of the robot arm 22 may be obtained by any suitable means, for example, by solving the target position of the nth joint of the robot arm 22 according to the target pose of the robot arm 22 by a robot inverse kinematics algorithm.
In step S32, the control unit may acquire the current pose of the mechanical arm 22 according to the real-time image information of the mechanical arm 22 acquired by the positioning device 3, and calculate the current position of the nth joint according to the current pose of the mechanical arm 22. Alternatively, the surgical robot system further includes a plurality of position acquiring devices (not shown), which are respectively disposed at the joints and are in communication connection with the control unit. That is, the control unit may directly acquire the current position of the nth joint from the position acquisition device provided at the nth joint. For a rotary joint, the position acquisition device may be, for example, an angle encoder or other type of angle sensor, and for a translational joint, a distance sensor, or the like.
In step S34, as shown in fig. 14, if the difference between the target position of the nth joint and the current position is within a predetermined range, it is determined that the nth joint is aligned, and if not, it is determined that the nth joint is misaligned. And in the step S35, the target moving direction is a positive direction when the difference between the target position and the current position is a positive value, and the target moving direction is a negative direction when the difference between the target position and the current position is a negative value. For example, when the nth joint is a rotary joint, the target position of the nth joint is θgoalThe current position is theta0If thetagoal-θ0When the motion direction of the target of the Nth joint is positive, the motion direction of the target of the Nth joint is in the positive direction, and on the contrary, when theta is positive, the motion direction of the target of the Nth joint is in the negative directiongoal-θ0And when the value is negative, the target motion direction of the Nth joint is along the negative direction. When the nth joint is a translation joint and the nth joint translates in the Y direction (taking fig. 9 and 10 as examples), the target position of the nth joint is Ngoal(0，ygoal0), current position is N0(0，y00), the difference between the two can be directly expressed as ygoal-y0If y isgoal-y0If the motion direction is positive, the motion direction of the target during the translation of the Nth joint is positive, and if y is positivegoal-y0And if the value is a negative value, the target motion direction at the time of the Nth joint level is an inverse direction. It is understood that, in the process of performing the alignment operation on the nth joint, the control unit further repeatedly performs the steps S32 and S35 until the nth joint is aligned.
In some embodiments, the prompting unit is an audio prompting mechanism, and thus, in step S35, the target movement direction information is also prompted through the audio prompting mechanism, for example, a voice broadcasting mechanism. In addition, the voice prompt mechanism also prompts the first prompt message.
When the alignment operation is performed for a selected one of the robot arms 22, it is common to start with the first joint 221a and perform the alignment operation for all the joints in turn in the order of connection. Therefore, after the alignment operation of the nth joint is completed, the alignment method further includes step S37: determining whether all joints of the robot arm 22 to be currently aligned are aligned, and if not, repeating the steps S31 to S35, and correcting N to N +1 when repeating the step S31; if yes, go to step S4. The step S4 includes: and generating second prompt information. Likewise, the second prompting message may be prompted by the audible prompting mechanism.
After the step S4 is completed, the alignment method further includes a step S5: determining whether all the alignment operations of the robot 22 are completed, and if not, returning to perform the step S0 and the following steps, in this embodiment, the control unit returns to perform the steps S0 and S4; if yes, go to step S6, where step S6 includes: a third prompt message is generated to prompt all of the robotic arms 22 to complete the alignment. The third prompting message can be prompted by the voice prompting mechanism.
Further, in the step S0, the audible prompting mechanism may prompt the operator to confirm the robot arm 22 currently to be aligned, and in the step S31, the audible prompting mechanism may also prompt the operator to confirm the nth joint currently to be aligned.
Alternatively, the prompting unit may have other options. For example, referring to fig. 15 and 16, in an alternative embodiment, the prompting unit is a first light prompting mechanism. The first light prompting mechanism includes a plurality of indicator light groups 41, the number of the indicator light groups 41 is four, for example, and the indicator light groups 41 are respectively disposed on each of the robot arms 22, that is, one indicator light group 41 is used for guiding an alignment operation of one of the robot arms 22. Each of the indicator light sets 41 may include two indicator lights, namely a first indicator light 41a and a second indicator light 41b, the first indicator light 41a and the second indicator light 41b both have three states of flashing, normally on, and normally off, and the first indicator light 41a and the second indicator light 41b have two colors in the flashing state, that is, the first indicator light 41a and the second indicator light 41b may flash in a first color or flash in a second color, and the first color is different from the second color.
As shown in fig. 17, in the present embodiment, the alignment operation is guided by the light changes, specifically, the states and the color changes of the first indicator light 41a and the second indicator light 41 b. For example, in the step S0, the first indicator light 41a and the second indicator light 41b on all the robot arms 22 flash in the first color to prompt selection of the robot arm 22 to be currently aligned. In the step S31, the first indicator lamp 41a and the second indicator lamp 41b flash in the second color to prompt the operator to confirm the nth joint of the robot arm 22 to be currently aligned. In the step S35, when the planned target movement direction is a positive direction, the first indicator light 41a is normally on, the second indicator light 41b is normally off, and when the planned target movement direction is a negative direction, the first indicator light 41a is normally off, and the second indicator light 41b is normally on. When it is determined in step S34 that the nth joint has been aligned, both the first indicator lamp 41a and the second indicator lamp 41b are turned off to indicate the first indication information. In the step S36, if it is determined that all the joints of the robot arm 22 to be currently aligned are aligned, the first indicator light 41a and the second indicator light 41b are kept in a normally off state to prompt the second prompt information; if it is determined that the joint of the robot arm 22 to be currently aligned is not aligned, when the control unit returns to execute the step S31, the first indicator light 41a and the second indicator light 41b flash in the second color to prompt the operator to confirm the (N + 1) th joint to be currently aligned. In step S4, if it is determined that all the robot arms 22 are aligned, all the indicator light groups 41 are in a normally off state to indicate the third indication information. If one of the robot arms 22 is misaligned, the indicator light group 41 on the misaligned robot arm 22 flashes in the first color.
In another alternative embodiment, as shown in fig. 18 and 19, the prompting unit is a second light prompting mechanism, the second light prompting mechanism includes four third indicator lights 41c, each third indicator light 41c is disposed on one of the robot arms 22, that is, one third indicator light 41c is used for guiding the alignment of one of the robot arms 22.
Specifically, the third indicator lamp 41c has five states of flashing in a third color, which is different from the fourth color, flashing in a fourth color, normally on in a fifth color, normally on in a sixth color, and normally off, the fifth color being different from the sixth color. In the step S1, the third indicator lights 41c on all the robot arms 22 blink in the third color to prompt the operator to select the robot arm 22 to be currently aligned. In the step S31, the third indicator light 41 blinks in the fourth color to prompt confirmation of the nth joint to be currently adjusted. In the step S35, if the planned target movement direction is a positive direction, the third indicator light 41c is normally lit in the fifth color, and if the planned target movement direction is a negative direction, the third indicator light 41c is normally lit in the sixth color. In step S34, if it is determined that the nth joint is aligned, the third indicator light 41c is turned off to indicate the first indication information. In step S36, if it is determined that all the joints of the robot arm 22 to be currently aligned are aligned, the third indicator light 41c is kept in a normally off state to prompt the second prompt information; if it is determined that the robot arm 22 to be currently aligned has a joint misalignment, when the control unit returns to execute the step S31, the third indicator lamp 41c flashes in the second color to prompt the operator to confirm the (N + 1) th joint to be currently aligned. In step S4, if it is determined that all the robot arms 22 are aligned, all the third indicator lights 41c are in an off state to indicate the third indication information. If one of the robot arms 22 is misaligned, the third indicator light 41c on the misaligned robot arm 22 blinks in the first color.
In yet another alternative embodiment, as shown in fig. 20 and 21, the prompting unit is a display screen 42, and the number of the display screens 42 is four, and the display screens 42 are respectively arranged on three of the mechanical arms 22. Each of the display screens 42 is provided with an indication figure including a first arrow 42a pointing in the positive direction, a second arrow 42b pointing in the negative direction, and a confirmation symbol 42c, the confirmation symbol 42c being, for example, "√" or "v". The first arrow 42a and the second arrow 42b have a normally on state and a normally off state, and the confirmation symbol 42c has a flashing state in a seventh color, a flashing state in an eighth color, and a normally on state and a normally off state, the seventh color being different from the eighth color.
The specific indication manner of this embodiment is as follows: in the step S0, the commit symbol 42c on all the display screens 42 blinks in the seventh color to prompt selection of the robot arm 22 to be currently aligned, while the first arrow 42a and the second arrow 42b may be in the on-off state. In the step S31, the confirmation symbol 42c on the robot arm 22 to be currently aligned flashes in the eighth color to prompt confirmation of the nth joint to be currently aligned, while the first arrow 42a and the second arrow 42b may be in a normally off state. In step S34, if it is determined that the nth joint is not aligned, the confirmation symbol 42c is in a normally off state, and if it is determined that the nth joint is aligned, the confirmation symbol 42c is in a normally on state while the first arrow 41a and the second arrow 42b are in a normally off state, so as to prompt the first prompt message. In step S35, if the planned target movement direction is a positive direction, the first arrow 42a is normally on, and the second arrow 42b and the confirmation symbol 42c are normally off, and if the planned target movement direction is a negative direction, the second arrow 42b is normally on, and the first arrow 42a and the confirmation symbol 42c are normally off. In step S36, if it is determined that all the joints of the robot arm 22 to be currently aligned are aligned, the confirmation symbol 42c is kept in a normally-on state to prompt the second prompt message; if it is determined that the robot arm 22 to be currently aligned has a joint misalignment, when the control unit returns to execute the step S31, the confirmation symbol 42c flashes in the eighth color to prompt the operator to confirm the (N + 1) th joint to be aligned. In step S4, if it is determined that all the robot arms 22 are aligned, all the confirmation symbols 42c are in a normally illuminated state to present the third presentation information. If one of the robot arms 22 is misaligned, the commit symbol 42 on the misaligned robot arm 22 blinks in the seventh color.
When the robot arm 22 is manually aligned, the computer-readable storage medium provided by the embodiment of the present invention prompts the target movement direction to guide the movement of the joint through the prompting unit, and prompts whether the joint is aligned through the prompting unit, so that the alignment efficiency is improved on the premise of improving the accuracy of the alignment operation.
Further, the present invention also provides an alignment method, which is an alignment method executed by the program stored on the aforementioned computer-readable storage medium.
Further, an embodiment of the present invention further provides an alignment system, where the alignment system includes the control unit and the prompt unit, that is, the control unit is configured to execute the alignment method, and the prompt unit is communicatively connected to the control unit and configured to prompt the target moving direction information, the first prompt information, the second prompt information, and the third prompt information. And, the alignment system also preferably includes the positioning device and the position acquisition device.
Still further, the embodiment of the present invention further provides a surgical robot system, the surgical robot system includes the surgical operation device 20 and the aforementioned alignment system, the operation device 20 includes the mechanical arm 22, and a distal end of the mechanical arm 22 is used for connecting the surgical instrument 3. The alignment system is used to align the robotic arm 22 with the guide device 2 for providing a surgical channel for the surgical instrument 3.
Also, an embodiment of the present invention provides an electronic device, which includes a processor and the computer-readable storage medium as described above, where the processor is configured to execute the program stored on the computer-readable storage medium.
Although the present invention is disclosed above, it is not limited thereto. Various modifications and alterations of this invention may be made by those skilled in the art without departing from the spirit and scope of this invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (19)
1. A computer readable storage medium having stored thereon a program for executing an alignment method for aligning a robotic arm with a guide device for providing a surgical channel for a surgical instrument, the robotic arm comprising a number of joints, the alignment method comprising:
step S1: acquiring the pose of the guide device;
step S2: planning the aligned target pose of the mechanical arm according to the pose of the guide device; and the number of the first and second groups,
step S3: and acquiring the current position of the joint, planning the target motion direction of at least one joint according to the current position of the joint and the target pose of the mechanical arm, and guiding the corresponding joint to move according to the target motion direction.
2. The computer-readable storage medium according to claim 1, wherein when the robot arm is in the target pose, a tip end of the robot arm faces an instrument hole of the guide device and is spaced apart from the instrument hole by a predetermined distance.
3. The computer-readable storage medium according to claim 1, wherein the step S2 includes: and establishing a mapping relation between the coordinate system of the mechanical arm and the coordinate system of the guide device, and planning the target pose of the mechanical arm according to the mapping relation and the pose of the guide device.
4. The computer-readable storage medium according to claim 1, wherein the step S3 includes:
step S31: acquiring a target position of an Nth joint of the mechanical arm according to the target pose of the mechanical arm;
step S32: acquiring the current position of the Nth joint;
step S33: calculating a difference value between the target position and the current position of the Nth joint;
step S34: judging whether the Nth joint is aligned according to the difference value of the target position and the current position of the Nth joint, and if not, executing the step S35;
step S35: planning the target motion direction of the Nth joint according to the difference value between the target position and the current position of the Nth joint, and guiding the Nth joint to move along the target motion direction to execute alignment operation, wherein N is a positive integer.
5. The computer-readable storage medium of claim 4, wherein in directing the alignment of the Nth joint, the steps S32-S35 are repeatedly executed in a loop until the Nth joint completes the alignment.
6. The computer-readable storage medium according to claim 1, wherein the step S3 further comprises: when it is determined that the nth joint has moved to the target position corresponding to the joint, first prompt information is generated.
7. The computer-readable storage medium according to claim 1, wherein when all the joints of the robot arm are moved to the corresponding target positions, the alignment method further comprises the step S4 of: and generating second prompt information.
8. The computer-readable storage medium of claim 7, wherein the alignment method is used to align a plurality of the robot arms with a plurality of the guide devices that have been inserted into the target object, respectively; the alignment method further includes:
step S0: selecting the mechanical arm to be aligned currently; and the number of the first and second groups,
step S5: judging whether the alignment operation of all the mechanical arms is finished, if not, at least repeating and circularly executing the step S0 and the step S4; if yes, go to step S6;
step S6: generating a third prompt message;
wherein the step S0 is performed before the step S3, and the step S5 is performed after the step S4.
9. The computer-readable storage medium of claim 1, wherein the alignment method further comprises: and prompting the target motion direction information on a prompting unit.
10. The computer-readable storage medium of claim 9, wherein the prompting unit prompts the target movement direction information by at least one of an audible indication, a light indication, or a graphical indication.
11. The computer-readable storage medium of claim 1, wherein the target direction of motion of the joint comprises a direction of rotation or a direction of translation of the joint.
12. An alignment method, characterized in that the alignment method is an alignment method executed by a program stored on a computer-readable storage medium according to any one of claims 1 to 11.
13. An alignment system comprising a control unit configured to perform the alignment method of claim 12 and a prompting unit communicatively connected to the control unit and at least configured to receive and prompt the target motion direction information.
14. The alignment system of claim 13, wherein the prompting unit comprises at least one of an audible prompting mechanism, a light prompting mechanism, and a display screen.
15. The alignment system of claim 13, further comprising a positioning device communicatively connected to the control unit and configured to acquire three-dimensional coordinate information of the robot arm and the guiding device, wherein the control unit establishes a mapping relationship between a coordinate system of the robot arm and a coordinate system of the guiding device according to the three-dimensional coordinate information of the robot arm and the guiding device.
16. The alignment system according to claim 15, wherein the control unit further acquires position information of the joint from three-dimensional coordinate information of the robot arm.
17. The alignment system of claim 13, further comprising a plurality of position acquisition devices for acquiring position information of the joints; the control unit is in communication connection with the position acquisition device and receives position information of the joint.
18. A surgical robotic system comprising a surgical manipulation device comprising a robotic arm having a distal end for attachment to a surgical instrument and an alignment system as claimed in any one of claims 13 to 17 for aligning the robotic arm with a guide device for providing a surgical channel for the surgical instrument.
19. An electronic device, characterized in that the electronic device comprises a processor and a computer-readable storage medium according to any of claims 1-11, the processor being configured to execute a program stored on the computer-readable storage medium.
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| CN202111081225.0A CN113616338B (en) | 2021-09-15 | 2021-09-15 | Computer readable storage medium, alignment method and system, and surgical robot system |
| PCT/CN2022/115051 WO2023040632A1 (en) | 2021-09-15 | 2022-08-26 | Computer-readable storage medium, alignment method and system, surgical robot system, and electronic device |
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